CN111123774B - Motor current acquisition method and system applied to deep space detection antenna servo controller - Google Patents
Motor current acquisition method and system applied to deep space detection antenna servo controller Download PDFInfo
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- CN111123774B CN111123774B CN201911313268.XA CN201911313268A CN111123774B CN 111123774 B CN111123774 B CN 111123774B CN 201911313268 A CN201911313268 A CN 201911313268A CN 111123774 B CN111123774 B CN 111123774B
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- G05B19/00—Programme-control systems
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
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Abstract
The invention discloses a motor current acquisition method and a system applied to a deep space detection antenna servo controller, wherein the method comprises the following steps: switching and collecting each phase current of a plurality of controlled loads by adopting a sampling resistor in an analog switch mode to obtain a current sampling value and collecting a value of a reference ground channel; and comparing the value of the reference channel with the current sampling value, filtering the current sampling value to obtain the actual working current value of the current load, and using the actual working current value for current loop calculation to complete current closed-loop control. The invention effectively solves the problem of sampling precision of the current loop in the double closed-loop control, ensures that the sampling value is not influenced by the sampling frequency and the ground wire fluctuation, and improves the precision of the antenna current closed-loop control.
Description
Technical Field
The invention belongs to the technical field of control of satellite-borne servo controllers, and particularly relates to a motor current acquisition method and system applied to a deep space exploration antenna servo controller.
Background
The deep space detection antenna is a control object of an antenna servo controller and is used for carrying out directional control on an antenna rotating mechanism according to the requirement of a control signal. The requirement precision of the directional control of the antenna is high, and double closed-loop control is required. In order to improve the control precision of the double closed loops, the current loop is used as an inner loop, and the precision requirement on current sampling is very high. Because the controlled object is a motor load, a common reference ground plane is needed between a control signal of the driving circuit and a power signal of the driving load, and the common reference ground plane is generally a single-point short circuit, and therefore, the ground line fluctuation is an important factor of current sampling distortion. At present, the mainstream control scheme is PWM, which can cause noise fluctuation of a power ground wire to be conducted to a secondary power ground in the working process of the motor, and the precision of current sampling is influenced, so that the precision of closed-loop control is influenced.
Disclosure of Invention
The technical problem of the invention is solved: the method and the system for collecting the motor current applied to the deep space detection antenna servo controller effectively solve the problem of sampling precision of a current loop in double closed-loop control, ensure that a sampling value is not influenced by sampling frequency and ground wire fluctuation, and improve the precision of antenna current closed-loop control.
In order to solve the technical problem, the invention discloses a motor current acquisition method applied to a deep space exploration antenna servo controller, which comprises the following steps:
adopting a sampling resistor to carry out switching acquisition on each phase current of a plurality of controlled loads in an analog switch mode, averaging four times of each phase current acquisition to suppress burrs caused by sampling frequency or load fluctuation in the sampling process, obtaining a current sampling value, and acquiring a value of a reference ground channel;
and comparing the value of the reference channel with the current sampling value to obtain the actual working current value of the current load, and using the actual working current value for current loop calculation to complete current closed-loop control.
In the above method for acquiring a motor current applied to a deep space probe antenna servo controller, the sampling resistor is used to switch and acquire each phase current of a plurality of controlled loads in an analog switch manner, so as to obtain a current sampling value, and acquire a value of a reference ground channel, including:
starting the gating operation of an analog switch through the FPGA, starting AD sampling after waiting for 0.1ms after the switching of the FPGA channel, and waiting for not less than 100us to read conversion result data after the AD of each analog quantity is started so as to ensure that the time sequence allowance of the sampling conversion time of the AD in the sampling process is enough.
In the motor current acquisition method applied to the deep space detection antenna servo controller, the FPGA carries out continuous 4 times of AD conversion on the same analog quantity signal of a certain channel, averages the 4 times of conversion results and stores the average value in an internal register, and starts the next channel switching and analog quantity conversion work.
In the motor current collection method applied to the deep space detection antenna servo controller, after the analog switch switches the phase current channels of each load, the AD574 is adopted for current collection, the AD574 adopts a STAND-ALONE working mode, the FPGA carries out continuous 4 times of AD conversion on the same analog quantity signal of any channel of the analog switch, collects the current reference ground value while collecting the phase current of the load, averages the phase current collection of each load so as to inhibit the burrs caused by sampling frequency or load fluctuation in the sampling process, and takes the average value as the phase current sampling value.
In the motor current acquisition method applied to the deep space exploration antenna servo controller, the FPGA is adopted to control the analog switch and the AD574, a signal interface is arranged between the AD574 and the acquisition change-over switch, the AD conversion signal is started to start the control conversion operation of the AD574 after the waiting time of 0.1ms after the channel switching, and the corresponding control signals of the AD574 are respectively output by counting of an internal timer.
The invention also discloses a motor current acquisition system applied to the deep space detection antenna servo controller, which comprises the following components:
the channel switching module is used for switching the channels of the plurality of current channels and the reference channel in the current acquisition process;
the current acquisition module is used for switching and acquiring the phase currents of the controlled loads by adopting a sampling resistor in an analog switch mode to obtain a current sampling value; collecting the value of a reference ground channel;
and the current processing module is used for comparing the value of the reference channel with the current sampling value, filtering the current sampling value to obtain the actual working current value of the current load, and using the actual working current value for current loop calculation to finish current closed-loop control.
The invention has the following advantages:
the invention discloses a motor current acquisition method and a system applied to a deep space detection antenna servo controller, which can effectively solve the problem of sampling distortion caused by ground wire fluctuation after a power ground wire and a control ground wire are in short circuit by improving a sampling method on the premise of the existing hardware resources, ensure that a sampling value is not influenced by sampling frequency and ground wire fluctuation, improve the precision of antenna current closed-loop control and are suitable for the servo controller of the deep space detection antenna double closed-loop control.
Drawings
FIG. 1 is a flowchart of a motor current collection method applied to a deep space probe antenna servo controller according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a current channel switching acquisition timing sequence according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1, in this embodiment, the method for collecting a motor current applied to a servo controller of a deep space probe antenna includes:
In this embodiment, the current closed-loop antenna control system switches and acquires the phase currents of the controlled loads in an analog switch manner by using the sampling resistor in the working process, so that the utilization rate of hardware resources is improved. Starting the gating operation of an analog switch through the FPGA, starting AD sampling after waiting for 0.1ms after the FPGA channel is switched, and waiting for not less than 100us to read conversion result data after each analog quantity AD is started so as to ensure that the time sequence allowance of the sampling time of the AD in the sampling process is enough. And the FPGA carries out continuous 4 times of AD conversion on the same analog quantity signal of a certain channel, averages the 4 times of conversion results and stores the average value into an internal register, and starts the next channel switching and analog quantity conversion work. The acquisition operation time sequence of the analog quantity switching ADC of a specific channel is shown in figure 2.
Preferably, after the analog switch switches the phase current channels of each load, the current is acquired by using the AD574, the AD574 adopts a STAND-ALONE operating mode, the FPGA continuously performs AD conversion on the same analog quantity signal of a certain channel for 4 times, acquires a current reference ground value while acquiring the phase current of the load, and averages the phase current acquisition of each load to suppress a glitch caused by sampling frequency or load fluctuation in the sampling process, and the average value is used as a phase current sampling value.
The AD574 is controlled by adopting the FPGA, a signal interface is arranged between the AD574 and the acquisition change-over switch, the AD conversion starting signal output by the acquisition change-over switch is received to start the AD574 control conversion operation, and corresponding control signals of the AD574 are respectively output by counting through an internal timer.
And 102, comparing the value of the reference channel with the current sampling value, filtering the current sampling value to obtain the actual working current value of the current load, and using the actual working current value for current loop calculation to finish current closed-loop control.
In this embodiment, the load of the servo controller is a motor, a common reference ground plane needs to be arranged between a control signal of a driving circuit and a power signal of the driving load, a power ground line and a control ground line need to be in short circuit, a value of a current reference ground is acquired while each channel is acquired, sampling distortion caused by ground line fluctuation is inhibited, an averaged sampling current value is removed from the ground line fluctuation and then introduced into a current loop for closed-loop control, and the accuracy of current loop control is greatly improved.
Example 2
In this embodiment, the detailed steps of the motor current collection may be as follows:
1) the antenna control system adopting the current closed loop adopts the sampling resistor to switch and collect the phase currents of a plurality of controlled loads in an analog switch mode in the working process so as to improve the utilization rate of hardware resources. The FPGA starts the gating operation of the analog switch, the AD sampling can be started after the waiting time of 0.1ms after the FPGA channel is switched, and after each analog quantity AD is started, the data of the conversion result is waited to be read by no less than 100 us. And the FPGA carries out continuous 4 times of AD conversion on the same analog quantity signal of a certain channel, averages the 4 times of conversion results and stores the average value into an internal register, and starts the next channel switching and analog quantity conversion work.
2) After the analog switch switches the phase current channels of each load, the AD574 is adopted for current collection, the AD574 adopts a STAND-ALONE working mode, the FPGA carries out continuous 4 times of AD conversion on the same analog quantity signal of any channel of the analog switch, collects the current reference ground value while collecting the phase current of the load, averages the phase current collection of each load so as to inhibit the burrs caused by sampling frequency or load fluctuation in the sampling process, and takes the average value as the phase current sampling value.
3) The load of the servo controller is a motor, a common reference ground plane needs to be arranged between a control signal of a driving circuit and a power signal of the driving load, a power ground wire and a control ground wire need to be in short circuit, the value of a current reference ground is collected while each channel is collected, sampling distortion caused by ground wire fluctuation is inhibited, the averaged sampling current value is removed from the ground wire fluctuation and then is introduced into a current loop, and closed-loop control is carried out.
Furthermore, the method adopts a mode of switching the analog switch to collect the phase currents of each controlled load, thereby improving the utilization rate of hardware resources. The FPGA is adopted to carry out switching control on the analog switch, AD sampling can be started after the FPGA channel is switched for 0.1ms, and after each analog quantity AD is started, the AD can wait for not less than 100us to read conversion result data, so that the enough time sequence allowance of the sampling time of the AD in the sampling conversion process is ensured.
Further, a STAND-ALONE independent working mode is adopted, each phase current channel is collected for 4 times, and the current reference ground value is collected while the load phase current is collected. The FPGA is adopted to control the analog switch and the AD574, a signal interface is arranged between the AD574 and the acquisition change-over switch, the AD conversion signal is started to start the control conversion operation of the AD574 after the waiting time of 0.1ms after the channel switching, and the corresponding control signals of the AD574 are respectively output through counting of an internal timer.
Furthermore, the value after 4 times of sampling and averaging is removed to be used as the actual value of the current path of motor phase current, and the actual value is introduced into a current loop to carry out closed-loop control, so that the precision of the current loop control can be greatly improved.
Example 3
On the basis of the embodiment, the invention discloses a motor current acquisition system applied to a deep space detection antenna servo controller, which comprises: the channel switching module is used for switching the channels of the plurality of current channels and the reference channel in the current acquisition process; the current acquisition module is used for switching and acquiring the phase currents of the controlled loads by adopting a sampling resistor in an analog switch mode to obtain a current sampling value; collecting the value of a reference ground channel; and the current processing module is used for comparing the value of the reference channel with the current sampling value, filtering the current sampling value to obtain the actual working current value of the current load, and using the actual working current value for current loop calculation to finish current closed-loop control.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for the relevant points, refer to the description of the method embodiment section.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (5)
1. A motor current collection method applied to a deep space detection antenna servo controller is characterized by comprising the following steps:
adopting a sampling resistor to carry out switching acquisition on each phase current of a plurality of controlled loads in an analog switch mode, averaging four times of each phase current acquisition to suppress burrs caused by sampling frequency or load fluctuation in the sampling process, obtaining a phase current sampling value, and acquiring a value of a reference ground channel; the specific implementation flow of the analog switch mode is as follows: starting an analog switch gating operation through the FPGA, starting AD sampling after waiting for 0.1ms after switching of an FPGA channel, and waiting for not less than 100us of reading conversion result data after starting each analog quantity AD so as to ensure that the time sequence allowance of sampling conversion time in the sampling process of the AD is enough;
and comparing the value of the reference ground channel with the current sampling value to obtain the actual working current value of the current load, and using the actual working current value for current loop calculation to finish current closed-loop control.
2. The method as claimed in claim 1, wherein the FPGA performs 4 consecutive AD conversions on the same analog signal of any channel of the analog switch, averages the 4 conversion results, removes the glitch, stores the result in an internal register, and starts the next channel switching and analog conversion operations.
3. The motor current collection method applied to the deep space exploration antenna servo controller as claimed in claim 1, wherein after the analog switch switches the phase current channels of each load, the current collection is performed by using an AD574, the AD574 uses a STAND-ALONE operation mode, the FPGA performs continuous 4 times of AD conversion on the same analog quantity signal of a certain channel, collects the current of the load and the value of a current reference ground, averages the current collection of each load to suppress the glitch caused by the sampling frequency or the load fluctuation in the sampling process, and takes the average value as the phase current sampling value.
4. The motor current collection method applied to the deep space exploration antenna servo controller, according to claim 3, is characterized in that an FPGA is adopted to control an analog switch and an AD574, a signal interface is arranged between the AD574 and a collection switch, an AD conversion signal is started to start the control conversion operation of the AD574 after waiting time of 0.1ms after channel switching, and corresponding control signals of the AD574 are respectively output by counting of an internal timer.
5. The utility model provides a be applied to motor current acquisition system of deep space probe antenna servo controller which characterized in that includes:
the channel switching module is used for switching the channels of the plurality of current channels and the reference ground channel in the current acquisition process;
the current acquisition module is used for switching and acquiring the phase currents of the controlled loads by adopting a sampling resistor in an analog switch mode to obtain a current sampling value; collecting the value of a reference ground channel; the mode of the analog switch is specifically realized as follows: starting an analog switch gating operation through the FPGA, starting AD sampling after waiting for 0.1ms after switching of an FPGA channel, and waiting for not less than 100us of reading conversion result data after starting each analog quantity AD so as to ensure that the time sequence allowance of sampling conversion time in the sampling process of the AD is enough;
and the current processing module is used for comparing the value of the reference ground channel with the current sampling value, filtering the current sampling value to obtain the actual working current value of the current load, and using the actual working current value for current loop calculation to complete current closed-loop control.
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